Obstacle detection system for a work vehicle

ABSTRACT

An obstacle detection system includes a controller configured to receive a first signal from a first sensor assembly indicative of presence of an obstacle within a field of view of the first sensor assembly. The controller is configured to receive a second signal from a second sensor assembly indicative of a position of the obstacle within a field of view of the second sensor assembly in response to presence of a movable object coupled to the work vehicle within the field of view of the first sensor assembly. The controller is configured to determine presence of the obstacle within the field of view of the first sensor assembly based on the position of the obstacle, and the controller is configured to output a third signal indicative of detection of the obstacle in response to presence of the obstacle within the field of view of the first sensor assembly.

BACKGROUND

The disclosure relates generally to an obstacle detection system for awork vehicle.

Certain autonomous work vehicles include an obstacle detection systemconfigured to detect obstacles that may encounter the work vehicle(e.g., due to movement of the work vehicle and/or movement of theobstacle). Upon detection of the obstacle, the obstacle detection systemmay inform an operator of the presence and, in certain configurations,the location of the detected obstacle. The operator may then instructthe autonomous work vehicle to avoid the obstacle. In certainconfigurations, the obstacle detection system may automatically instructa movement control system of the autonomous work vehicle to avoid theobstacle (e.g., by instructing the movement control system to stop theautonomous work vehicle, by instructing the movement control system toturn the autonomous work vehicle, etc.). In certain configurations, amovable object (e.g., implement, tool, etc.) may be coupled to theautonomous work vehicle. In such configurations, the movable object mayat least partially block a field of view of a sensor assembly of theobstacle detection system while the movable object is in certainpositions. As a result, the effectiveness of the obstacle detectionsystem may be reduced.

BRIEF DESCRIPTION

In one embodiment, an obstacle detection system for a work vehicleincludes a controller having a memory and a processor. The controller isconfigured to receive a first signal from a first sensor assemblyindicative of presence of an obstacle within a field of view of thefirst sensor assembly. The controller is also configured to receive asecond signal from a second sensor assembly indicative of a position ofthe obstacle within a field of view of the second sensor assembly inresponse to presence of a movable object coupled to the work vehiclewithin the field of view of the first sensor assembly. The second sensorassembly is positioned remote from the work vehicle. In addition, thecontroller is configured to determine presence of the obstacle withinthe field of view of the first sensor assembly based on the position ofthe obstacle in response to receiving the second signal, and thecontroller is configured to output a third signal indicative ofdetection of the obstacle in response to presence of the obstacle withinthe field of view of the first sensor assembly.

In another embodiment, an obstacle detection system for a first workvehicle includes a controller having a memory and a processor. Thecontroller is configured to receive a first signal indicative of aposition of an obstacle, and the controller is configured to output asecond signal to a tool control system of the first work vehicleindicative of instructions to perform an operation on the obstacle inresponse to receiving the first signal. In addition, the controller isconfigured to output a third signal to a controller of a second workvehicle indicative of the position of the obstacle and instructions toperform the operation on the obstacle in response to receiving the firstsignal.

In a further embodiment, one or more tangible, non-transitory,machine-readable media include instructions configured to cause aprocessor to receive a first signal from a first sensor assemblyindicative of presence of an obstacle within a field of view of thefirst sensor assembly. The instructions are also configured to cause theprocessor to receive a second signal from a second sensor assemblyindicative of a position of the obstacle within a field of view of thesecond sensor assembly in response to presence of a movable objectcoupled to the work vehicle within the field of view of the first sensorassembly. The second sensor assembly is positioned remote from the workvehicle. In addition, the instructions are configured to cause theprocessor to determine presence of the obstacle within the field of viewof the first sensor assembly based on the position of the obstacle inresponse to receiving the second signal, and the controller isconfigured to output a third signal indicative of detection of theobstacle in response to presence of the obstacle within the field ofview of the first sensor assembly.

DRAWINGS

These and other features, aspects, and advantages of the presentdisclosure will become better understood when the following detaileddescription is read with reference to the accompanying drawings in whichlike characters represent like parts throughout the drawings, wherein:

FIG. 1 is a perspective view of an embodiment of an autonomous workvehicle system including an autonomous work vehicle and a movable objectcoupled to the autonomous work vehicle;

FIG. 2 is a block diagram of an embodiment of a control system that maybe employed within the autonomous work vehicle system of FIG. 1;

FIG. 3 is a schematic diagram of an embodiment of the autonomous workvehicle system of FIG. 1, in which the movable object is in a field ofview of a sensor assembly;

FIG. 4 is a schematic diagram of an embodiment of the autonomous workvehicle system of FIG. 1, in which an obstacle is within the field ofview of the sensor assembly;

FIG. 5 is a schematic diagram of an embodiment of the autonomous workvehicle system of FIG. 1 and a second autonomous work vehicle systemwithin a field;

FIG. 6 is a schematic diagram of an embodiment of the autonomous workvehicle system of FIG. 1 and the second autonomous work vehicle systemof FIG. 5 approaching a trench within the field;

FIG. 7 is a flow diagram of an embodiment of a method for detecting anobstacle; and

FIG. 8 is a flow diagram of another embodiment of a method for detectingan obstacle.

DETAILED DESCRIPTION

FIG. 1 is a perspective view of an embodiment of an autonomous workvehicle system 10 including an autonomous work vehicle 12 and a movableobject 14 (e.g., movable tool) coupled to the autonomous work vehicle12. In the illustrated embodiment, the autonomous work vehicle 12 is acompact track loader. However, it should be appreciated that theobstacle detection system disclosed herein may be utilized on otherautonomous work vehicles, such as tractors, harvesters, and constructionequipment, among other autonomous work vehicles. In the illustratedembodiment, the autonomous work vehicle 12 includes a cab 16 and achassis 18. In certain embodiments, the chassis 18 is configured tohouse a motor (e.g., diesel engine, etc.), a hydraulic system (e.g.,including a pump, valves, a reservoir, etc.), and other components(e.g., an electrical system, a cooling system, etc.) that facilitateoperation of the autonomous work vehicle system 10. In addition, thechassis 18 is configured to support the cab 16 and tracks 20 of a tracksystem 22. The tracks 20 may be driven to rotate by a drive system thatmay include a hydraulic motor, a transmission, other suitable drivecomponents, or a combination thereof.

The cab 16 is configured to house an operator of the autonomous workvehicle 12. Accordingly, various controls, such as the illustrated handcontroller 24, are positioned within the cab 16 to facilitate operatorcontrol of the autonomous work vehicle 12. For example, the controls mayenable the operator to control the rotational speed of the tracks 20,thereby facilitating adjustment of the speed and/or the direction of theautonomous work vehicle system 10. In the illustrated embodiment, thecab 16 includes a door 26 to facilitate ingress and egress of theoperator from the cab 16.

In the illustrated embodiment, the autonomous work vehicle system 10includes the movable tool 14, such as the illustrated dozer blade. Asillustrated, the movable tool 14 is positioned forward of the chassis 18relative to a forward direction of travel 28. In addition, theautonomous work vehicle system 10 includes an actuator assembly 30 tocontrol a position of the movable tool 14 relative to the chassis 18. Inthe illustrated embodiment, the actuator assembly 30 includes hydrauliccylinders 32 configured to move the movable tool 14 relative to thechassis 18 (e.g., the illustrated lift cylinder and the illustrated backangle cylinders, among other suitable cylinder(s), such as tiltcylinder(s) and angle cylinder(s), etc.). In addition, the actuatorassembly may include a valve assembly configured to control hydraulicfluid flow to the hydraulic cylinders. In certain embodiments, theactuator assembly 30 may be configured to move the movable tool 14 alonga longitudinal axis 34 of the autonomous work vehicle 12, along alateral axis 36 of the autonomous work vehicle 12, along a vertical axis38 of the autonomous work vehicle 12, or a combination thereof. Inaddition, the actuator assembly 30 may be configured to rotate themovable tool 14 about the longitudinal axis 34 in roll 40, about thelateral axis 36 in pitch 42, about the vertical axis 38 in yaw 44, or acombination thereof. While the movable tool includes a dozer blade inthe illustrated embodiment, in alternative embodiments the movable toolmay include other suitable type(s) of tools(s) (e.g., a bucket, a broom,an auger, a grapple, etc.). In addition, while the actuator assemblyincludes hydraulic cylinders in the illustrated embodiment, inalternative embodiments the actuator assembly may include other suitabletype(s) of actuator(s), such as hydraulic motor(s), pneumaticactuator(s), or electromechanical actuator(s), among others.

The autonomous work vehicle 12 includes a control system configured toautomatically guide the autonomous work vehicle system 10 through afield (e.g., along the direction of travel 28) to facilitate variousoperations (e.g., earthmoving operations, etc.). For example, thecontrol system may automatically guide the autonomous work vehiclesystem 10 along a route through the field without input from anoperator. The control system may also automatically control movement ofthe movable tool based on a target operation (e.g., field levelingoperation, etc.).

In the illustrated embodiment, the autonomous work vehicle 12 includes asensor assembly 46 configured to output a signal indicative of presenceand, in certain embodiments, a position of an obstacle. The sensorassembly 46 may include one or more image sensors (e.g., camera(s),etc.), one or more infrared sensors, one or more capacitance sensors,one or more ultrasonic sensors, one or more light detection and ranging(LIDAR) sensors, one or more radio detection and ranging (RADAR)sensors, or a combination thereof, among other suitable types ofsensors. While the illustrated sensor assembly 46 is coupled to a frontportion of the autonomous work vehicle 12 in the illustrated embodiment,in other embodiments the sensor assembly may be positioned at anothersuitable location on the autonomous work vehicle, or the sensor assemblymay include sensors distributed throughout the autonomous work vehicle.For example, in certain embodiments, the sensor assembly may include oneor more sensors coupled to a front portion of the autonomous workvehicle and one or more sensors coupled to at least one side of theautonomous work vehicle.

In certain embodiments, the sensor assembly 46 is an element of anobstacle detection system. The obstacle detection system may alsoinclude a controller configured to receive a first signal from thesensor assembly 46 indicative of presence of an obstacle within a fieldof view of the sensor assembly 46. In addition, the controller isconfigured to receive a second signal from a second sensor assemblyindicative of the position of the obstacle within a field of view of thesecond sensor assembly in response to presence of a movable objectcoupled to the autonomous work vehicle (e.g., the movable tool 14)within the field of view of the sensor assembly 46. The second sensorassembly is positioned remote from the autonomous work vehicle 12 (e.g.,on a second autonomous work vehicle, fixedly coupled to the field,etc.). The controller is configured to determine presence of theobstacle within the field of view of the sensor assembly 46 based on theposition of the obstacle in response to receiving the second signal. Inaddition, the controller is configured to output a third signalindicative of detection of the obstacle in response to presence of theobstacle within the field of view of the sensor assembly 46. In certainembodiments, the third signal indicative of detection of the obstacleincludes instructions to a movement control system (e.g., a speedcontrol system and/or a steering control system) to avoid the obstacle.Because the movable object may block a portion of the field of view ofthe sensor assembly 46 while the movable object is within the field ofview of the sensor assembly 46, utilizing the second sensor assembly tofacilitate detection of an obstacle may substantially increase theeffectiveness of the obstacle detection system.

Furthermore, in certain embodiments, the controller is configured toreceive a first signal indicative of a position of an obstacle (e.g.,from the sensor assembly 46). The controller is also configured tooutput a second signal to a tool control system (e.g., actuator assembly30 and/or movement control system) indicative of instructions to performan operation (e.g., earthmoving operation) on the obstacle in responseto receiving the first signal. In addition, the controller is configuredto output a third signal to a controller of a second work vehicleindicative of the position of the obstacle and instructions to performthe operation on the obstacle in response to receiving the first signal.Because the controller is configured to instruct the controller of thesecond work vehicle to perform the operation on the obstacle, theduration of the operation may be reduced (e.g., as compared to a singlework vehicle system performing the operation).

FIG. 2 is a block diagram of an embodiment of a control system 48 (e.g.,obstacle detection system) that may be employed within the autonomouswork vehicle system 10 of FIG. 1. In the illustrated embodiment, thecontrol system 48 includes a spatial locating device 50, which ismounted to the autonomous work vehicle 12 and configured to determine aposition and, in certain embodiments, a velocity of the autonomous workvehicle 12. The spatial locating device 50 may include any suitablesystem configured to measure and/or determine the position of theautonomous work vehicle 12, such as a GPS receiver, for example.

In certain embodiments, the control system may also include an inertialmeasurement unit (IMU) communicatively coupled to the controller andconfigured to enhance the accuracy of the determined position. Forexample, the IMU may include one or more accelerometers configured tooutput signal(s) indicative of acceleration along the longitudinal axis,the lateral axis, the vertical axis, or a combination thereof. Inaddition, the IMU may include one or more gyroscopes configured tooutput signal(s) indicative of rotation (e.g., rotational angle,rotational velocity, rotational acceleration, etc.) about thelongitudinal axis, the lateral axis, the vertical axis, or a combinationthereof. The controller may determine the position and/or orientation ofthe agricultural vehicle based on the IMU signal(s), and/or thecontroller may utilize the IMU signal(s) to enhance the accuracy of theposition determined by the spatial locating device.

In the illustrated embodiment, the control system 48 includes a toolcontrol system 52, which includes the actuator assembly 30 and amovement control system 54. The movement control system 54 includes asteering control system 56 configured to control a direction of movementof the autonomous work vehicle 12 and a speed control system 58configured to control a speed of the autonomous work vehicle 12.Furthermore, the actuator assembly 30 includes the actuators (e.g.,hydraulic cylinders 32) and an actuator control system 60 configured tocontrol the actuators. In addition, the control system 48 includes acontroller 62, which is communicatively coupled to the spatial locatingdevice 50, to the steering control system 56, to the speed controlsystem 58, and to the actuator controls system 60. The controller 62 isconfigured to automatically control the autonomous work vehicle systemduring certain phases of operation (e.g., without operator input, withlimited operator input, etc.).

In certain embodiments, the controller 62 is an electronic controllerhaving electrical circuitry configured to process data from the spatiallocating device 50 and/or other components of the control system 48. Inthe illustrated embodiment, the controller 62 include a processor, suchas the illustrated microprocessor 64, and a memory device 66. Thecontroller 62 may also include one or more storage devices and/or othersuitable components. The processor 64 may be used to execute software,such as software for controlling the autonomous work vehicle system,software for determining a position of an obstacle, and so forth.Moreover, the processor 64 may include multiple microprocessors, one ormore “general-purpose” microprocessors, one or more special-purposemicroprocessors, and/or one or more application specific integratedcircuits (ASICS), or some combination thereof. For example, theprocessor 64 may include one or more reduced instruction set (RISC)processors.

The memory device 66 may include a volatile memory, such as randomaccess memory (RAM), and/or a nonvolatile memory, such as read-onlymemory (ROM). The memory device 66 may store a variety of informationand may be used for various purposes. For example, the memory device 66may store processor-executable instructions (e.g., firmware or software)for the processor 64 to execute, such as instructions for controllingthe autonomous work vehicle system, instructions for determining aposition of an obstacle, and so forth. The storage device(s) (e.g.,nonvolatile storage) may include ROM, flash memory, a hard drive, or anyother suitable optical, magnetic, or solid-state storage medium, or acombination thereof. The storage device(s) may store data (e.g.,position data, vehicle geometry data, etc.), instructions (e.g.,software or firmware for controlling the autonomous work vehicle system,etc.), and any other suitable data.

In certain embodiments, the steering control system 56 may include awheel/track angle control system, a differential braking system, atorque vectoring system, or a combination thereof. The wheel/track anglecontrol system may automatically rotate one or more wheels and/or tracksof the autonomous work vehicle (e.g., via hydraulic actuators) to steerthe autonomous work vehicle along a target route (e.g., along a guidanceswath, along headland turns, etc.). By way of example, the wheel anglecontrol system may rotate front wheels/tracks, rear wheels/tracks,intermediate wheels/tracks, or a combination thereof, of the autonomouswork vehicle (e.g., either individually or in groups). The differentialbraking system may independently vary the braking force on each lateralside of the autonomous work vehicle to direct the autonomous workvehicle along a path. In addition, the torque vectoring system maydifferentially apply torque from an engine to wheel(s) and/or track(s)on each lateral side of the autonomous work vehicle, thereby directingthe autonomous work vehicle along a path. The torque vectoring systemmay also control output from one or more motors (e.g., hydraulicmotor(s)) configured to drive wheel(s)/track(s) on each lateral side ofthe autonomous work vehicle in rotation. In further embodiments, thesteering control system may include other and/or additional systems tofacilitate directing the autonomous work vehicle along a path throughthe field.

In certain embodiments, the speed control system 58 may include anengine output control system, a transmission control system, a brakingcontrol system, or a combination thereof. The engine output controlsystem may vary the output of the engine to control the speed of theautonomous work vehicle. For example, the engine output control systemmay vary a throttle setting of the engine, a fuel/air mixture of theengine, a timing of the engine, other suitable engine parameters tocontrol engine output, or a combination thereof. In addition, thetransmission control system may adjust a gear ratio of a transmission(e.g., by adjusting gear selection in a transmission with discretegears, by controlling a continuously variable transmission (CVT), etc.)to control the speed of the autonomous work vehicle. Furthermore, thebraking control system may adjust braking force, thereby controlling thespeed of the autonomous work vehicle. In certain embodiments, the speedcontrol system may include a valve assembly configured to control flowof hydraulic fluid to one or more hydraulic motors configured to drivethe wheel(s)/track(s) in rotation. In further embodiments, the speedcontrol system may include other and/or additional systems to facilitateadjusting the speed of the autonomous work vehicle.

In certain embodiments, the actuator control system 60 may include oneor more valves configured to control a flow of fluid (e.g., hydraulicfluid) to one or more actuators 32 of the actuator assembly 30. Inaddition, the actuator control system 60 may include one or more sensorscoupled to the one or more actuators 32. Each sensor may be configuredto output a respective signal indicative of a position of the respectiveactuator, and the controller 62 may be configured to control theposition of each actuator based at least in part on the respectivesignal.

In certain embodiments, the control system may also control operation ofan agricultural implement coupled to (e.g., towed by) the autonomouswork vehicle. For example, the control system may include an implementcontrol system/implement controller configured to control a steeringangle of the implement (e.g., via an implement steering control systemhaving a wheel angle control system and/or a differential brakingsystem) and/or a speed of the autonomous work vehicle system (e.g., viaan implement speed control system having a braking control system). Insuch embodiments, the autonomous work vehicle control system may becommunicatively coupled to a control system/controller on the implementvia a communication network, such as a controller area network (CANbus).

In the illustrated embodiment, the control system 48 includes a userinterface 68 communicatively coupled to the controller 62. The userinterface 68 is configured to enable an operator to control certainparameter(s) associated with operation of the autonomous work vehiclesystem. For example, the user interface 68 may include a switch thatenables the operator to selectively configure the autonomous workvehicle for autonomous or manual operation. In addition, the userinterface 68 may include a battery cut-off switch, an engine ignitionswitch, a stop button, or a combination thereof, among other controls.In certain embodiments, the user interface 68 includes a display 70configured to present information to the operator, such as a graphicalrepresentation of a guidance swath, a visual representation of certainparameter(s) associated with operation of the autonomous work vehicle(e.g., fuel level, oil pressure, water temperature, etc.), a visualrepresentation of certain parameter(s) associated with operation of anagricultural implement coupled to the autonomous work vehicle (e.g.,seed level, penetration depth of ground engaging tools,orientation(s)/position(s) of certain components of the implement,etc.), or a combination thereof, among other information. In certainembodiments, the display 70 may include a touch screen interface thatenables the operator to control certain parameters associated withoperation of the autonomous work vehicle and/or the movable tool 14.

In the illustrated embodiment, the control system 48 includes manualcontrols 72, such as the hand controller, configured to enable anoperator to control the autonomous work vehicle while automatic controlis disengaged (e.g., while unloading the autonomous work vehicle from atrailer, etc.). The manual controls 72 may include manual steeringcontrol, manual transmission control, manual braking control, or acombination thereof, among other controls. In the illustratedembodiment, the manual controls 72 are communicatively coupled to thecontroller 62. The controller 62 is configured to disengage automaticcontrol of the autonomous work vehicle upon receiving a signalindicative of manual control of the autonomous work vehicle.Accordingly, if an operator controls the autonomous work vehiclemanually, the automatic control terminates, thereby enabling theoperator to control the autonomous work vehicle.

In the illustrated embodiment, the control system 48 includes atransceiver 74 communicatively coupled to the controller 62. In certainembodiments, the transceiver 74 is configured to establish acommunication link with a corresponding transceiver of a base stationand/or a corresponding transceiver of another autonomous work vehicle,thereby facilitating communication between the base station/otherautonomous work vehicle control system and the control system 48 of theautonomous work vehicle 12. For example, the base station may include auser interface that enables a remote operator to provide instructions tothe control system 48 (e.g., instructions to initiate automatic controlof the autonomous work vehicle, instructions to direct the autonomouswork vehicle along a route, etc.). The user interface may also enable aremote operator to provide data to the control system. Furthermore, thetransceiver 74 may enable the controller 62 to output instructions to acontrol system of the other autonomous work vehicle (e.g., instructionsto direct the other autonomous work vehicle toward an obstacle, etc.).The transceiver 74 may operate at any suitable frequency range withinthe electromagnetic spectrum. For example, in certain embodiments, thetransceiver 74 may broadcast and receive radio waves within a frequencyrange of about 1 GHz to about 10 GHz. In addition, the transceiver 74may utilize any suitable communication protocol, such as a standardprotocol (e.g., Wi-Fi, Bluetooth, etc.) or a proprietary protocol.

In certain embodiments, the control system may include other and/oradditional controllers/control systems, such as the implementcontroller/control system discussed above. For example, the implementcontroller/control system may be configured to control variousparameters of an agricultural implement towed by the autonomous workvehicle. In certain embodiments, the implement controller/control systemmay be configured to instruct actuator(s) to adjust a penetration depthof at least one ground engaging tool of the agricultural implement. Byway of example, the implement controller/control system may instructactuator(s) to reduce or increase the penetration depth of each tillagepoint on a tilling implement, or the implement controller/control systemmay instruct actuator(s) to engage or disengage each opener disc/bladeof a seeding/planting implement from the soil. Furthermore, theimplement controller/control system may instruct actuator(s) totransition the agricultural implement between a working position and atransport portion, to adjust a flow rate of product from theagricultural implement, or to adjust a position of a header of theagricultural implement (e.g., a harvester, etc.), among otheroperations. The autonomous work vehicle control system may also includecontroller(s)/control system(s) for electrohydraulic remote(s), powertake-off shaft(s), adjustable hitch(es), or a combination thereof, amongother controllers/control systems.

In the illustrated embodiment, the control system 48 includes the sensorassembly 46 communicatively coupled to the controller 62 and configuredto output a signal indicative of presence and, in certain embodiments, aposition of an obstacle. As previously discussed, the sensor assembly 46may include one or more image sensors (e.g., camera(s), etc.), one ormore infrared sensors, one or more capacitance sensors, one or moreultrasonic sensors, one or more LIDAR sensors, one or more RADARsensors, or a combination thereof, among other suitable types ofsensors. In certain embodiments, the controller 62 is configured toreceive a first signal from the sensor assembly 46 indicative ofpresence of an obstacle within a field of view of the sensor assembly46. The controller 62 is also configured to receive a second signal froma second sensor assembly (e.g., via the transceiver 74) indicative of aposition of the obstacle within a field of view of the second sensorassembly in response to presence of the movable tool 14 within the fieldof view of the sensor assembly 46. As discussed in detail below, thesecond sensor assembly is positioned remote from the autonomous workvehicle 12 (e.g., on another autonomous work vehicle, fixedly coupled tothe field, etc.). In addition, the controller 62 is configured todetermine presence of the obstacle within the field of view of the firstsensor assembly based on the position of the obstacle in response toreceiving the second signal. Furthermore, the controller is configuredto output a third signal indicative of detection of the obstacle inresponse to presence of the obstacle within the field of view of thefirst sensor assembly.

In certain embodiments, the third signal indicative of detection of theobstacle includes instructions to the movement control system 54 toavoid the obstacle (e.g., if the obstacle is positioned along a path ofthe autonomous work vehicle system 10). For example, the controller 62may output the third signal to the steering control system 56 indicativeof instructions to steer the autonomous work vehicle system 10 aroundthe obstacle. In addition, the controller 62 may output the third signalto the speed control system 58 indicative of instructions to stop theautonomous work vehicle system 10 or reduce the speed of the autonomouswork vehicle system 10 to avoid a moving obstacle.

In the illustrated embodiment, the control system 48 includes a movableobject sensor 76 communicatively coupled to the controller 62 andconfigured to output a signal indicative of the position of the movableobject (e.g., movable tool 14) relative to the autonomous work vehicle12. In certain embodiments, the movable object sensor 76 may include apotentiometer, an ultrasonic sensor, an infrared sensor, an imagesensor, a capacitance sensor, or a combination thereof, among othersuitable types of sensors. For example, the movable object sensor may beconfigured to output a signal indicative of an angle of the movable tool14 relative to the autonomous work vehicle. The controller 62 may beconfigured to determine the position of the movable tool 14 based atleast in part on the dimensions of the movable tool, the mountinglocation of the movable tool on the autonomous work vehicle, and theangle of the movable tool relative to the autonomous work vehicle.Accordingly, the controller may identify presence of the movable toolwithin the field of view of the sensor assembly based at least in parton the position of the movable tool. The movable object sensor may alsoenable the controller to determine the position of other movable objectscoupled to the autonomous work vehicle (e.g., an agricultural implementtowed by the autonomous work vehicle), thereby enabling the controllerto identify presence of the movable object within the field of view ofthe sensor assembly. In certain embodiments, the position of the movableobject (e.g., agricultural implement) may be determined based onsteering angle of the autonomous work vehicle (e.g., instead ofutilizing the movable object sensor).

In certain embodiments, the controller 62 is configured to receive afirst signal (e.g., from the sensor assembly 46) indicative of aposition of an obstacle. The controller 62 is also configured to outputa second signal to the tool control system 52 indicative of instructionsto perform an operation on the obstacle (e.g., earthmoving operation) inresponse to receiving the first signal. In addition, the controller isconfigured to output a third signal (e.g., via the transceiver 74) to acontroller of a second autonomous work vehicle indicative of theposition of the obstacle and instructions to perform the operation onthe obstacle in response to receiving the first signal. In certainembodiments, the controller 62 is configured to determine whether anidentity of the obstacle corresponds to a target identity (e.g., storedwithin the memory device 66 and/or the storage device of the controller62) in response to receiving the first signal. In such embodiments, thecontroller 62 is configured to only output the second and third signalsin response to determining that the identity of the obstacle correspondsto the target identity.

FIG. 3 is a schematic diagram of an embodiment of the autonomous workvehicle system 10 of FIG. 1, in which the movable tool 14 is in a fieldof view 78 of the sensor assembly 46. As illustrated, with the movabletool 14 in the field of view 78 of the sensor assembly 46, the movabletool 14 blocks a portion of the field of view 78. For example, thesensor assembly 46 may be positioned at a height on the front portion ofthe autonomous work vehicle 12 that enables the sensor assembly 46 todetect obstacles in front of the autonomous work vehicle system 10 whilethe movable tool 14 is in a lowered position. However, when the movabletool 14 is in a raised position, the movable tool 14 may block a portionof the field of view 78. Accordingly, an obstacle 80 that is positionedin front of the autonomous work vehicle system 10 along the direction oftravel 28 may not be detectable by the sensor assembly 46. As usedherein, “field of view” refers to the field of view of the sensorassembly with the movable object/tool in a default position (e.g.,lowered position), in a least obstructing position, or in anon-obstructing position. Accordingly, moving the movable object/toolfrom the default/least obstructing/non-obstructing position brings themovable object/tool into the field of view of the sensor assembly.

In the illustrated embodiment, the controller of the autonomous workvehicle system 10 is configured to receive a signal from another sensorassembly indicative of a position of the obstacle 80 within the field ofview of the other sensor assembly in response to presence of the movabletool 14 within the field of view 78 of the sensor assembly 46. Aspreviously discussed, the controller may determine that the movable tool14 is within the field of view 78 of the sensor assembly 46 based onfeedback from a movable object sensor. In addition or alternatively, thecontroller may determine that the movable tool 14 is within the field ofview 78 of the sensor assembly 46 based on feedback from the sensorassembly 46. For example, the controller may compare the size, shape,position, or a combination thereof, of the object within the field ofview 78 of the sensor assembly 46 to the respective properties of themovable tool 14 (e.g., stored within the memory device and/or thestorage device of the controller). Upon determining that the movabletool 14 is within the field of view 78 of the sensor assembly 46, thecontroller may receive the signal from the other sensor assemblyindicative of the position of the obstacle 80.

In certain embodiments, the other sensor assembly 82 may be fixedlycoupled to the field (e.g., infrastructure sensor assembly). Theinfrastructure sensor assembly 82 may include one or more image sensors(e.g., camera(s), etc.), one or more infrared sensors, one or morecapacitance sensors, one or more ultrasonic sensors, one or more LIDARsensors, one or more RADAR sensors, or a combination thereof, amongother suitable types of sensors. As illustrated, the obstacle 80 iswithin the field of view 84 of the infrastructure sensor assembly 82.Accordingly, the infrastructure sensor assembly 82 outputs a signalindicative of the position of the obstacle 80. In certain embodiments,the controller of the autonomous work vehicle system 10 may receive thesignal directly from the infrastructure sensor assembly 82 (e.g., viathe transceiver of the autonomous work vehicle 10 and a correspondingtransceiver of the infrastructure sensor assembly 82). However, in otherembodiments, the infrastructure sensor assembly 82 may output the signalto a base station 86, and the controller may receive the signalindicative of the position of the obstacle from the base station 86(e.g., via the transceiver of the autonomous work vehicle system 10 anda transceiver of the base station).

In certain embodiments, the other sensor assembly is a second sensorassembly 88 of a second work vehicle system 90 (e.g., second autonomouswork vehicle system). For example, the second sensor assembly 88 may becoupled to the autonomous work vehicle of the second autonomous workvehicle system 90. The second sensor assembly 88 may include one or moreimage sensors (e.g., camera(s), etc.), one or more infrared sensors, oneor more capacitance sensors, one or more ultrasonic sensors, one or moreLIDAR sensors, one or more RADAR sensors, or a combination thereof,among other suitable types of sensors. As illustrated, the obstacle 80is within the field of view 92 of the second sensor assembly 88.Accordingly, the second sensor assembly 88 outputs a signal indicativeof the position of the obstacle (e.g., to the controller of the secondautonomous work vehicle system 90). In certain embodiments, thecontroller of the autonomous work vehicle system 10 may receive thesignal directly from the controller of the second autonomous workvehicle system 90 (e.g., via transceivers of the respective workvehicles). However, in other embodiments, the controller of the secondautonomous work vehicle system 90 may output the signal to the basestation 86, and the controller of the autonomous work vehicle system 10may receive the signal indicative of the position of the obstacle fromthe base station 86 (e.g., via the transceiver of the autonomous workvehicle system 10 and the transceiver of the base station).

In response to receiving the signal indicative of the position of theobstacle 80 from the infrastructure sensor assembly 82 and/or from thesecond sensor assembly 88 of the second autonomous work vehicle system90, presence of the obstacle within the field of view of the firstsensor assembly is determined. For example, the controller of theautonomous work vehicle system 10 may compare the position of theobstacle to the position of the field of view 78. If the positionsoverlap, the controller determines that the obstacle 80 is presentwithin the field of view 78 of the sensor assembly 46. In addition, ifthe movable tool 14 is not present within the field of view 78 of thesensor assembly 46, the controller determines whether the obstacle 80 ispresent within the field of view 78 based on a signal from the sensorassembly 46.

Upon determining that the obstacle 80 is present within the field ofview 78, the controller may output a signal indicative of detection ofthe obstacle 80. The signal indicative of detection of the obstacle mayinclude instructions to inform an operator (e.g., via the userinterface) of the presence and, in certain embodiments, position of theobstacle. In addition, if the position of the obstacle 80 is within apath of the autonomous work vehicle system, the signal indicative ofdetection of the obstacle may include instructions to the movementcontrol system to avoid the obstacle. For example, the instructions mayinclude instructions to the speed control system to stop the autonomouswork vehicle, or the instructions may include instructions to thesteering control system to direct the autonomous work vehicle systemaround the obstacle (e.g., in combination with instructions to the speedcontrol system to reduce the speed of the autonomous work vehicle).

FIG. 4 is a schematic diagram of an embodiment of the autonomous workvehicle system 10 of FIG. 1, in which an obstacle 94 is within the fieldof view 78 of the sensor assembly 46. In certain embodiments, thecontroller of the autonomous work vehicle system 10 (e.g., firstautonomous work vehicle system) is configured to receive a first signalindicative of a position of the obstacle 94 (e.g., from the sensorassembly 46). The obstacle may be a mound of soil, a trench within thefield, or any other feature suitable for earthmoving operations. Thecontroller of the first autonomous work vehicle system 10 is configuredto output a second signal to the tool control system 52 indicative ofinstructions to perform an operation on the obstacle 94 in response toreceiving the first signal. For example, the operation may include anearthmoving operation, such as leveling the mound of soil or filling thetrench with soil. In addition, the controller of the first autonomouswork vehicle system 10, in response to receiving the first signal, isconfigured to output a third signal to a controller 96 of the secondautonomous work vehicle system 90 indicative of the position of theobstacle and instructions to perform the operation on the obstacle 94.The controller 96 of the second autonomous work vehicle system 90 mayreceive the third signal. The controller 96 may then instruct a toolcontrol system of the second autonomous work vehicle system 90 to directthe second autonomous work vehicle system 90 toward the obstacle 94(e.g., via the movement control system) and to perform the operation(e.g., via the actuator assembly and/or the movement control system).

In certain embodiments, the controller of the first autonomous workvehicle system 10 may output the third signal directly to the controller96 of the second autonomous work vehicle system 90 (e.g., viatransceivers of the respective autonomous work vehicles). However, inother embodiments, the controller of the first autonomous work vehiclesystem 10 may output the third signal to the base station 86, and thecontroller 96 of the second autonomous work vehicle system 90 mayreceive the third signal indicative of the position of the obstacle 94and instructions to perform the operation on the obstacle 94 from thebase station 86 (e.g., via the transceiver of the second autonomous workvehicle system 90 and the transceiver of the base station 86). Becausetwo autonomous work vehicle systems perform the operation, the durationof the operation may be reduced (e.g., as compared to a single workvehicle system performing the operation).

In certain embodiments, the controller of the first autonomous workvehicle system 10 is configured to determine whether an identity of theobstacle 94 corresponds to a target identity in response to receivingthe first signal. In such embodiments, the controller of the firstautonomous work vehicle system 10 is configured to only output thesecond and third signals in response to determining that the identity ofthe obstacle corresponds to the target identity. For example, theobstacle identification process may include comparing the data receivedfrom the sensor assembly 46 to data stored within the memory and/orstorage device of the first autonomous work vehicle system controller(e.g., associated with various types of objects). If the identity of theobstacle corresponds to the target identity (e.g., a mound of soil, atrench within the soil, etc.), the controller of the first autonomouswork vehicle system 10 may output the second and third signals. However,if the identity of the obstacle corresponds to another type of obstacle(e.g., livestock in the field, a tree within the field, etc.), thecontroller may not output the second and third signals.

While the illustrated embodiment includes two autonomous work vehiclesystems, in other embodiments more autonomous work vehicle systems maybe distributed throughout the field. In such embodiments, the controllerof the first autonomous work vehicle system 10 may output the thirdsignal to all of the other autonomous work vehicle systems, or aselected subset of the autonomous work vehicle systems. Furthermore, incertain embodiments, a controller of the base station 86 may determinewhich autonomous work vehicle systems receive the third signal (e.g., inembodiments in which the third signal is relayed through the basestation). Furthermore, while the autonomous work vehicle systems areconfigured to perform an earthmoving operation in the illustratedembodiment, in other embodiments the autonomous work vehicle systems maybe configured to perform other operations, such as agriculturaloperations (e.g., in which the obstacle is an unharvested portion of thefield, etc.).

FIG. 5 is a schematic diagram of an embodiment of the autonomous workvehicle system 10 of FIG. 1 (e.g., the first autonomous work vehiclesystem 10) and the second autonomous work vehicle system 90 within afield. In certain embodiments, the controller of the first autonomouswork vehicle system 10 is configured to output a signal to the movementcontrol system (e.g., the speed control system and/or the steeringcontrol system) indicative of instructions to direct the firstautonomous work vehicle system 10 along a first route 98 through thefield 100. In addition, the controller of the second autonomous workvehicle system 90 is configured to output a signal to the respectivemovement control system (e.g., the speed control system and/or thesteering control system) indicative of instructions to direct the secondautonomous work vehicle system 90 along a second route 102 through thefield 100. The first and second routes may be based on a plan to performan agricultural operation (e.g., tillage, planting, harvesting, etc.) onthe field 100. For example, the controller of the base station 86 maydetermine the plan, and then output signals indicative of the first andsecond routes to the controllers of the autonomous work vehicle systems.In addition or alternatively, the autonomous work vehicle systemcontrollers may output signals indicative of the respective routes toone another (e.g., in which the routes are based on the plan). While twoautonomous work vehicle systems are positioned within the field in theillustrated embodiment, in alternative embodiments more autonomous workvehicle systems may be positioned within the field (e.g., each receivinga respective route based on the plan).

As illustrated, the first autonomous work vehicle system 10 ispositioned within a region 104 of the field 100 having a rough and/orlow traction surface. For example, the first autonomous work vehiclesystem 10 may detect a rough surface based on data received from thesensor assembly and/or data received from an accelerometer mounted tothe first autonomous work vehicle system 10. Upon detection of the roughsurface, the controller of the first autonomous work vehicle system 10may instruct the movement control system to reduce the speed of theautonomous work vehicle system (e.g., via the speed control system),and/or the controller may instruct the movement control system to directthe first autonomous work vehicle system 10 around the region 104 (e.g.,via the steering control system). In addition, the first autonomous workvehicle system 10 may detect a low traction surface based on datareceived from the sensor assembly and/or data received from wheel speedsensors, for example. Upon detection of the low traction surface, thecontroller of the first autonomous work vehicle system 10 may instructthe movement control system to reduce the speed of the autonomous workvehicle system (e.g., via the speed control system), engage adifferential locking system, engage a four-wheel drive system, instructthe movement control system to direct the first autonomous work vehiclesystem around the region 104, or a combination thereof.

In addition, upon detection of the rough and/or low traction region, thecontroller of the first autonomous work vehicle system 10 may output asignal to the controller of the second autonomous work vehicle system 90(e.g., via respective transceivers, via the base station controller,etc.) indicative of presence and, in certain embodiments, position ofthe rough and/or low traction region. In certain embodiments, the signalincludes information regarding the type of surface (e.g., rough and/orlow traction). Upon receiving the signal, the controller of the secondautonomous work vehicle system 90 may instruct the movement controlsystem, the differential locking system, the four-wheel drive system, ora combination thereof, to respond accordingly (e.g., upon reaching theregion 104 or before reaching the region 104). For example, thecontroller of the second autonomous work vehicle system 90 may instructthe movement control system to reduce the speed of the autonomous workvehicle system (e.g., via the speed control system), engage adifferential locking system, engage a four-wheel drive system, instructthe movement control system to direct the second autonomous work vehiclesystem around the region 104 (e.g., via the steering control system), ora combination thereof. Because the second autonomous work vehicle system90 may respond to the rough and/or low traction surface before reachingthe region 104 or at the boundary of the region 104, the efficiency ofthe agricultural operations may be enhanced.

Furthermore, as illustrated, an obstacle, such as the illustrated herdof cows 106, is positioned along the path of the second autonomous workvehicle system 90. Upon detection of the herd of cows 106, thecontroller of the second autonomous work vehicle system 90 may instructthe speed control system to stop the autonomous work vehicle system, orthe controller may instruct the steering control system to direct thesecond autonomous work vehicle system 90 around the herd of cows 106(e.g., in combination with instructions to the speed control system toreduce the speed of the autonomous work vehicle system). In addition,upon detection of the herd of cows, the controller of the secondautonomous work vehicle system 90 may output a signal to the controllerof the first autonomous work vehicle system 10 (e.g., via respectivetransceivers, via the base station controller, etc.) indicative ofpresence and, in certain embodiments, position and/or velocity of theherd of cows. In certain embodiments, the signal includes informationregarding the type of obstacle (e.g., the herd of cows 106). Uponreceiving the signal, the controller of the first autonomous workvehicle system 10 may instruct the speed control system to stop theautonomous work vehicle system or reduce the speed of the autonomouswork vehicle system to avoid the encounter with the herd of cows (e.g.,based on the velocity of the herd), or the controller may instruct thesteering control system to direct the first autonomous work vehiclesystem 10 around the herd of cows 106 (e.g., in combination withinstructions to the speed control system to reduce the speed of theautonomous work vehicle system). Because the first autonomous workvehicle system 10 may respond to the herd of cows 106 before reachingthe herd of cows, the efficiency of the agricultural operations may beenhanced.

While a herd of cows is disclosed above, the obstacle detection systemmay be utilized for other types of obstacles, such as stationaryobstacle (e.g., trees, posts, etc.) and/or moving obstacle (e.g.,vehicles, other animals, etc.). In addition, in certain embodiments, amap of the field (e.g., stored on the base station controller) may beupdated to include the detected obstacles and/or the soil conditions. Insuch embodiments, the map may be used for subsequent agriculturaloperations. Furthermore, in certain embodiments, obstacles and/or thesoil conditions may be detected by sensor assemblies positioned remotefrom the autonomous work vehicle systems, such as infrastructure sensorassemblies and/or sensor assemblies mounted on other vehicles within thefield.

FIG. 6 is a schematic diagram of an embodiment of the autonomous workvehicle system 10 of FIG. 1 (e.g., the first autonomous work vehiclesystem 10) and the second autonomous work vehicle system 90 of FIG. 5approaching a trench 108 within the field 100. The sensor assembly ofthe first autonomous work vehicle system 10 may output a signalindicative of presence and, in certain embodiments, position of thetrench 108. The controller of the first autonomous work vehicle system10 may receive the signal and instruct the movement control system torespond accordingly. For example, the controller of the first autonomouswork vehicle system 10 may instruct the movement control system toreduce the speed of the autonomous work vehicle system (e.g., via thespeed control system), engage a differential locking system, engage afour-wheel drive system, instruct the movement control system to directthe first autonomous work vehicle system around the trench 108 (e.g.,via the steering control system), or a combination thereof. In addition,in certain embodiments, the controller of the first autonomous workvehicle system 10 may update a map of the field (e.g., stored on thebase station controller) based on data from the sensor assembly.

Furthermore, the sensor assembly of the second autonomous work vehiclesystem 90 may output a signal indicative of presence and, in certainembodiments, position of the trench 108. The controller of the secondautonomous work vehicle system 90 may receive the signal and instructthe movement control system to respond accordingly. For example, thecontroller of the second autonomous work vehicle system 90 may instructthe movement control system to reduce the speed of the autonomous workvehicle system (e.g., via the speed control system), engage adifferential locking system, engage a four-wheel drive system, instructthe movement control system to direct the second autonomous work vehiclesystem around the trench 108 (e.g., via the steering control system), ora combination thereof. In addition, in certain embodiments, thecontroller of the second autonomous work vehicle system 90 may update amap of the field (e.g., stored on the base station controller) based ondata from the sensor assembly. Because the controllers of bothautonomous work vehicle systems may update the map, the accuracy of themap may be enhanced (e.g., as compared to a map updated using data froma single autonomous work vehicle system). For example, the sensorassemblies of the autonomous work vehicle systems may output dataassociated with various portions of the trench 108, and/or the sensorassemblies of the autonomous work vehicle systems may view the trench108 from various angles, thereby enhancing the accuracy the map. Whilethe autonomous work vehicle systems are approaching a trench in theillustrated embodiment, the autonomous work vehicle systems may approachother obstacles in further embodiments. In such embodiments, thecontrollers of the autonomous work vehicle systems may update the mapaccordingly.

FIG. 7 is a flow diagram of an embodiment of a method 110 for detectingan obstacle. First, as represented by block 112, a first signalindicative of presence of an obstacle within a field of view of a firstsensor assembly is received from the first sensor assembly. Next, adetermination is made regarding whether a movable object (e.g., movabletool) coupled to the autonomous work vehicle is present within the fieldof view of the first sensor assembly, as represented by block 114. Ifthe movable object is present within the field of view of the firstsensor assembly, a second signal indicative of a position of theobstacle within a field of view of a second sensor assembly is receivedfrom the second sensor assembly, as represented by block 116. The secondsensor assembly is positioned remote from the first sensor assembly. Forexample, the second sensor assembly may be coupled to a secondautonomous work vehicle, or the second sensor assembly may be fixedlycoupled to a field. In response to receiving the second signal, presenceof the obstacle within the field of view of the first sensor assembly isdetermined based on the position of the obstacle, as represented byblock 118. As represented by block 120, a third signal indicative ofdetection of the obstacle is output in response to presence of theobstacle within the field of view of the first sensor assembly. Forexample, the third signal may include instructions to a movement controlsystem (e.g., speed control system and/or steering control system) toavoid the obstacle.

FIG. 8 is a flow diagram of another embodiment of a method 122 fordetecting an obstacle. First, as represented by block 124, a firstsignal indicative of a position of an obstacle is received (e.g., fromthe sensor assembly). Next, a determination is made regarding whether anidentity of the obstacle corresponds to a target identity, asrepresented by block 126. If the identity of the obstacle does notcorrespond to the target identity, the method returns to block 124.Otherwise, a second signal indicative of instructions to perform anoperation on the obstacle is output to a tool control system of thefirst autonomous work vehicle, as represented by block 128. For example,the tool control system may include an actuator assembly and/or amovement control system (e.g., a steering control system and/or a speedcontrol system). As represented by block 130, a third signal indicativeof the position of the obstacle and instructions to perform theoperation on the obstacle is output to a controller of a secondautonomous work vehicle. The controller of the second autonomous workvehicle, in turn, may be configured to instruct a tool control system ofthe second autonomous work vehicle to perform the operation on theobstacle.

While the obstacle detection system is disclosed above with reference toan autonomous work vehicle, the obstacle detection system may beutilized in other types of work vehicles (e.g., semi-autonomous workvehicles, manually controlled work vehicles, etc.). Furthermore, theobstacle detection system disclosed herein may be configured to performany or all of the functions disclosed in the embodiments above.

While only certain features have been illustrated and described herein,many modifications and changes will occur to those skilled in the art.It is, therefore, to be understood that the appended claims are intendedto cover all such modifications and changes as fall within the truespirit of the disclosure.

The invention claimed is:
 1. An obstacle detection system for a workvehicle, comprising: a controller comprising a memory and a processor,wherein the controller is configured to: receive a first signal from afirst sensor assembly indicative of presence of an obstacle within afield of view of the first sensor assembly; receive a second signal froma second sensor assembly indicative of a position of the obstacle withina field of view of the second sensor assembly in response to presence ofa movable object coupled to the work vehicle within the field of view ofthe first sensor assembly, wherein the second sensor assembly ispositioned remote from the work vehicle; determine presence of theobstacle within the field of view of the first sensor assembly based onthe position of the obstacle in response to receiving the second signal;and output a third signal indicative of detection of the obstacle inresponse to presence of the obstacle within the field of view of thefirst sensor assembly.
 2. The obstacle detection system of claim 1,wherein the movable object comprises a tool rotatably coupled to thework vehicle.
 3. The obstacle detection system of claim 1, wherein thesecond sensor assembly is coupled to a second work vehicle.
 4. Theobstacle detection system of claim 1, wherein the second sensor assemblyis fixedly coupled to a field.
 5. The obstacle detection system of claim1, comprising the first sensor assembly communicatively coupled to thecontroller, wherein the first sensor assembly is configured to outputthe first signal.
 6. The obstacle detection system of claim 5, whereinthe first sensor assembly comprises an image sensor, an infrared sensor,a capacitance sensor, an ultrasonic sensor, a light detection andranging (LIDAR) sensor, a radio detection and ranging (RADAR) sensor, ora combination thereof.
 7. The obstacle detection system of claim 1,wherein the third signal indicative of detection of the obstaclecomprises instructions to a movement control system of the work vehicleto avoid the obstacle.
 8. The obstacle detection system of claim 7,wherein the movement control system comprises a speed control system, asteering control system, or a combination thereof.
 9. An obstacledetection system for a first work vehicle, comprising: a controllercomprising a memory and a processor, wherein the controller isconfigured to: receive a first signal indicative of a position of anobstacle; output a second signal to a tool control system of the firstwork vehicle indicative of instructions to perform an operation on theobstacle in response to receiving the first signal; and output a thirdsignal to a controller of a second work vehicle indicative of theposition of the obstacle and instructions to perform the operation onthe obstacle in response to receiving the first signal.
 10. The obstacledetection system of claim 9, wherein the operation comprises anearthmoving operation.
 11. The obstacle detection system of claim 9,comprising a sensor assembly communicatively coupled to the controller,wherein the first signal indicative of the position of the obstacle isoutput by the sensor assembly.
 12. The obstacle detection system ofclaim 11, wherein the sensor assembly comprises an image sensor, aninfrared sensor, a capacitance sensor, an ultrasonic sensor, a lightdetection and ranging (LIDAR) sensor, a radio detection and ranging(RADAR) sensor, or a combination thereof.
 13. The obstacle detectionsystem of claim 9, wherein the tool control system of the first workvehicle comprises an actuator assembly configured to control a positionof a tool, a movement control system of the first work vehicle, or acombination thereof.
 14. The obstacle detection system of claim 9,wherein the controller is configured to determine whether an identity ofthe obstacle corresponds to a target identity in response to receivingthe first signal, and the control is configured to only output thesecond and third signals in response to determining that the identity ofthe obstacle corresponds to the target identity.
 15. One or moretangible, non-transitory, machine-readable media comprising instructionsconfigured to cause a processor to: receive a first signal from a firstsensor assembly indicative of presence of an obstacle within a field ofview of the first sensor assembly; receive a second signal from a secondsensor assembly indicative of a position of the obstacle within a fieldof view of the second sensor assembly in response to presence of amovable object coupled to the work vehicle within the field of view ofthe first sensor assembly, wherein the second sensor assembly ispositioned remote from the work vehicle; determine presence of theobstacle within the field of view of the first sensor assembly based onthe position of the obstacle in response to receiving the second signal;output a third signal indicative of detection of the obstacle inresponse to presence of the obstacle within the field of view of thefirst sensor assembly.
 16. The one or more tangible, non-transitory,machine-readable media of claim 15, wherein the movable object comprisesa tool rotatably coupled to the work vehicle.
 17. The one or moretangible, non-transitory, machine-readable media of claim 15, whereinthe second sensor assembly is coupled to a second work vehicle.
 18. Theone or more tangible, non-transitory, machine-readable media of claim15, wherein the second sensor assembly is fixedly coupled to a field.19. The one or more tangible, non-transitory, machine-readable media ofclaim 15, wherein the third signal indicative of detection of theobstacle comprises instructions to a movement control system of the workvehicle to avoid the obstacle.
 20. The one or more tangible,non-transitory, machine-readable media of claim 19, wherein the movementcontrol system comprises a speed control system, a steering controlsystem, or a combination thereof.